{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,5,11]],"date-time":"2023-05-11T08:52:24Z","timestamp":1683795144985},"reference-count":10,"publisher":"World Scientific Pub Co Pte Lt","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2008,3]]},"abstract":"<jats:p> This work considers some aspects of the problem of generating and preserving of two-legged gait bearing in mind the requirements for a higher degree of similarity with human gait (anthropomorphism) and robustness to the constantly present small disturbances during the walk. Reference motion was synthesized by semi-inverse method, varying the mode of ZMP traveling along a path selected in advance on the foot\u2013ground surface. It was found that different ways of ZMP motion along the path has a decisive role in the trunk deflection in the sagittal plane. Also, the problem of classification of disturbances and their compensation during the gait is discussed in detail. The significance of the multi-link trunk in the gait synthesis and its role in the compensation of disturbances is also considered. <\/jats:p>","DOI":"10.1142\/s0219843608001339","type":"journal-article","created":{"date-parts":[[2008,4,9]],"date-time":"2008-04-09T09:44:44Z","timestamp":1207734284000},"page":"119-156","source":"Crossref","is-referenced-by-count":17,"title":["ON SOME ASPECTS OF HUMANOID ROBOTS GAIT SYNTHESIS AND CONTROL AT SMALL DISTURBANCES"],"prefix":"10.1142","volume":"05","author":[{"given":"MIOMIR","family":"VUKOBRATOVI\u0106","sequence":"first","affiliation":[{"name":"Institute Mihajlo Pupin, Volgina 15, 11000-Belgrade, Serbia"}]},{"given":"BRANISLAV","family":"BOROVAC","sequence":"additional","affiliation":[{"name":"University of Novi Sad, Faculty of Technical Sciences, 21000-Novi Sad, Trg D, Obradovi\u0107a 6, Serbia"}]},{"given":"MIRKO","family":"RAKOVI\u0106","sequence":"additional","affiliation":[{"name":"University of Novi Sad, Faculty of Technical Sciences, 21000-Novi Sad, Trg D, Obradovi\u0107a 6, Serbia"}]},{"given":"VELJKO","family":"POTKONJAK","sequence":"additional","affiliation":[{"name":"University of Belgrade, Faculty of Electrical Engineering, 11000-Belgrade, Bulevar Kralja Aleksandra 73, Serbia"}]},{"given":"MOM\u010cILO","family":"MILINOVI\u0106","sequence":"additional","affiliation":[{"name":"University of Belgrade, Faculty of Mechanical Engineering, 11120-Belgrade 35, Kraljaice Marije 16, Serbia"}]}],"member":"219","published-online":{"date-parts":[[2011,11,20]]},"reference":[{"key":"rf1","unstructured":"T.\u00a0Fukuda, IEEE Robot. Autom. Mag. (2001)\u00a0pp. 66\u201373."},{"key":"rf2","volume-title":"Mathematical Modeling of Biped Walking Systems","author":"Juri\u010di\u0107 D.","year":"1972"},{"key":"rf3","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1973.4309277"},{"key":"rf5","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-83006-8","volume-title":"Biped Locomotion \u2014 Dynamics, Stability, Control and Application","author":"Vukobratovi\u0107 M.","year":"1990"},{"key":"rf6","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000466"},{"key":"rf8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003031"},{"key":"rf9","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843606000710"},{"key":"rf17","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843606000643"},{"key":"rf18","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000508"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843608001339","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,7]],"date-time":"2019-08-07T00:58:26Z","timestamp":1565139506000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843608001339"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,3]]},"references-count":10,"journal-issue":{"issue":"01","published-online":{"date-parts":[[2011,11,20]]},"published-print":{"date-parts":[[2008,3]]}},"alternative-id":["10.1142\/S0219843608001339"],"URL":"https:\/\/doi.org\/10.1142\/s0219843608001339","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,3]]}}}